within ThreeD_MBS_Dynamics.Examples;

model Disc_on_Base
  extends Roll;
  parameter Real n[3]={0,1,0};
  parameter SI.Length d=0;
  //  parameter SI.Length R = 1;
  SI.Position[3] tau;
  SI.Position[3] ri;
equation
  n*r = d;
  ri = transpose(InPortB.T)*(r - InPortB.r);
  ri[3] = 0;
  //  ri[1]^2 + ri[2]^2 = R^2;
  tau = {-ri[2],ri[1],0};
  n*(InPortB.T*tau) = 0;

  annotation (Diagram);
end Disc_on_Base;
